摘要
在静电刚度校正技术的基础上,结合自校准算法,该文提出了一种实时辨识补偿正交误差的理论模型,并在两件套平面电极的半球谐振陀螺上进行了理论仿真和实验验证。结果表明,该方法不仅适用于半球谐振陀螺的力平衡和全角两种工作模式,还适用于虚拟进动的情况。此外,该文提出的补偿方法不会影响正交环路的控制精度,且对陀螺检测和驱动电路的增益和相位误差不敏感。
Based on the electrostatic stiffness calibration technique and combined with the self-calibration algorithm,a theoretical model for real-time identification and compensation of the quadrature error is proposed in this paper,and the theoretical simulation and experimental verification are carried out on a two-piece planer electrode hemispherical resonator gyro.The results show that this method is not only suitable for both the force-rebalance mode and the whole angle mode of the hemispherical resonator gyro,but also for the case of virtual precession.In addition,the compensation method proposed in this paper has no effect on the control accuracy of the quadrature loop,and it is insensitive to the gain and phase errors of the gyro detection and drive circuits.
作者
苏鹤鸣
陈朝春
文路
肖凯
王灵草
韩世川
王涵
林翠平
刘东生
雷霆
SU Heming;CHEN Chaochun;WEN Lu;XIAO Kai;WANG Lingcao;HAN Shichuan;WANG Han;LIN Cuiping;LIU Dongsheng;LEI Ting(The 26th institute of China Electronics Technology Group Corporation,Chongqing 400060,China;Solid Inertial Technology Enterprise Engineering Technology Research Center of Chongqing City,Chongqing 401332,China;Solid Inertial Technology Engineering Laboratory of Chongqing City,Chongqing 401332,China)
出处
《压电与声光》
CAS
北大核心
2023年第4期522-525,530,共5页
Piezoelectrics & Acoustooptics
关键词
半球谐振陀螺
正交误差
自校准技术
hemispherical resonator gyro
quadrature error
self-calibration technique
